Unicondylar mobile platform operation planning method and computer equipment

Abstract

Embodiments of the present application are applicable to the technical field of computer-aided medical treatment and surgical planning, and provide a single-condyle mobile platform surgical planning method and a computer device. The method comprises: determining a plurality of prostheses to be planned, the prostheses comprising femoral prostheses and tibial prostheses, and the femoral prostheses all being spherical prostheses; placing the femoral prostheses with the distal end point of a pre-constructed femur three-dimensional model as the center, and adjusting the femoral prostheses to target femur positions; calculating femur section coverage rates of the femoral prostheses at the target femur positions; determining a target femoral prosthesis from the plurality of femoral prostheses according to the femur section coverage rates; determining a target tibial prosthesis from the plurality of tibial prostheses, and performing preoperative planning of a single-condyle mobile platform knee joint replacement surgery based on the target tibial prosthesis and the target femoral prosthesis. By using the above method, preoperative prosthesis planning can be performed for single-condyle knee joint surgery of a mobile platform.

Description

TECHNICAL FIELD

[0001] The embodiment of the present application belongs to the technical field of computer-aided medical treatment and surgical planning, and particularly relates to a unicompartmental mobile platform surgical planning method and a computer device. BACKGROUND

[0002] Unicompartmental knee arthroplasty (UKA) is a kind of surgery for treating damage or degeneration in a specific area of the knee joint. By removing the damaged cartilage and part of the bone, and implanting a prosthesis, it can help patients recover the corresponding function after surgery. Preoperative prosthesis planning can provide an accurate surgical plan for intraoperative replacement.

[0003] In the prior art, the prosthesis planning of unicompartmental knee arthroplasty is mainly carried out for fixed platforms. For example, the Chinese patent application No. 202510679312.8 “Unicompartmental surgical prosthesis planning method, device and computer device” is such a unicompartmental knee arthroplasty planning method for fixed platforms. One of the differences between fixed platforms and mobile platforms in the field of unicompartmental knee arthroplasty is whether the tibial spacer (pad) can move on the tibial tray. In the fixed platform, the tibial spacer is firmly locked on the tibial tray and cannot move; while in the mobile platform, the tibial spacer can rotate and move on the surface of the tibial tray. In addition, the femoral prosthesis in the mobile platform is a spherical prosthesis, and the bone cutting operation before implanting the spherical prosthesis is quite different from the bone cutting operation in the surgical plan of the fixed platform, which leads to the fact that the unicompartmental knee arthroplasty plan for the fixed platform cannot be directly applied to the surgical plan of the mobile platform. There is a lack of effective unicompartmental knee prosthesis planning method for mobile platforms in the prior art. SUMMARY

[0004] Therefore, the embodiment of the present application provides a unicompartmental mobile platform surgical planning method and a computer device to perform preoperative prosthesis planning for unicompartmental knee surgery of a mobile platform.

[0005] The first aspect of the embodiment of the present application provides a unicompartmental mobile platform surgical planning method, comprising:

[0006] determining a plurality of prostheses to be planned, the prostheses including a femoral prosthesis and a tibial prosthesis, and the femoral prostheses are all spherical prostheses;

[0007] placing the femoral prosthesis with the distal end point of the femur in the pre-constructed three-dimensional model as the center and adjusting the femoral prosthesis to a target position of the femur; wherein at the target position of the femur, the distance from the spherical center of the femoral prosthesis to the intersection point of the femur is equal to the outer spherical radius of the femoral prosthesis;

[0008] calculating femur section coverage of the femoral prosthesis when the femoral prosthesis is at the femur target position;

[0009] determining a target femoral prosthesis from a plurality of the femoral prostheses according to the femur section coverage;

[0010] determining a target tibial prosthesis from a plurality of the tibial prostheses, and performing preoperative planning of unicompartmental mobile-bearing knee arthroplasty based on the target tibial prosthesis and the target femoral prosthesis.

[0011] Optionally, the adjusting the femoral prosthesis to the femur target position comprises:

[0012] displacing the femoral prosthesis along a normal vector direction of a distal spherical surface of the femoral prosthesis, and determining a first femur intersection point of the normal vector of the distal spherical surface and the femur in real time;

[0013] stopping displacing the femoral prosthesis when a distance from a spherical center of the femoral prosthesis to the first femur intersection point is equal to an outer spherical surface radius of the femoral prosthesis.

[0014] Optionally, the adjusting the femoral prosthesis to the femur target position further comprises:

[0015] displacing the femoral prosthesis along a normal vector direction of a posterior condyle section of the femoral prosthesis, and determining a second femur intersection point of the normal vector of the posterior condyle section and the femur in real time;

[0016] stopping displacing the femoral prosthesis when a distance from a spherical center of the femoral prosthesis to the second femur intersection point is equal to an outer spherical surface radius of the femoral prosthesis.

[0017] Optionally, the calculating femur section coverage of the femoral prosthesis when the femoral prosthesis is at the femur target position comprises:

[0018] determining a first area of a prosthesis posterior condyle section of the femoral prosthesis and a second area of a femur posterior condyle section in the femur three-dimensional model; and

[0019] calculating a ratio of the first area and the second area to obtain the femur section coverage;

[0020] Correspondingly, the determining a target femoral prosthesis from a plurality of the femoral prostheses according to the femur section coverage comprises:

[0021] determining a femoral prosthesis with the largest femur section coverage from a plurality of the femoral prostheses to be planned as the target femoral prosthesis.

[0022] Optionally, after the preoperative planning of unicompartmental mobile-bearing knee arthroplasty based on the target tibial prosthesis and the target femoral prosthesis, the method further comprises:

[0023] Simulating, for the target femoral prosthesis and the target tibial prosthesis respectively, a prosthesis placement effect in the active platform;

[0024] Adjusting a preoperative plan based on the simulated prosthesis placement effect.

[0025] Optionally, the simulating a prosthesis placement effect in the active platform comprises:

[0026] Determining a first target normal vector, which is a cross product between a normal vector of a posterior condylar section of the target femoral prosthesis and a normal vector of a distal spherical surface;

[0027] Based on the first target normal vector and an outer spherical surface radius and an inner spherical surface radius of the target femoral prosthesis, establishing a plurality of first point normal planes respectively;

[0028] Determining a plurality of femoral grid points that are simultaneously located above the plurality of first point normal planes;

[0029] Projecting the plurality of femoral grid points to corresponding spherical surfaces or sections respectively to simulate an effect of placing the target femoral prosthesis in the active platform.

[0030] Optionally, the projecting the plurality of femoral grid points to corresponding spherical surfaces or sections respectively comprises:

[0031] Establishing an inner half-spherical surface with the spherical center of the target femoral prosthesis as the center, and projecting a plurality of femoral grid points located above a distal spherical surface of the target femoral prosthesis to the inner half-spherical surface;

[0032] Projecting a plurality of femoral grid points located above a posterior condylar section of the target femoral prosthesis to a femoral posterior condylar section;

[0033] Establishing a cylindrical surface based on an inner spherical surface radius of the target femoral prosthesis, and projecting a plurality of femoral grid points located above the cylindrical surface to the cylindrical surface to simulate an effect of placing the target femoral prosthesis in the active platform.

[0034] Optionally, the simulating a prosthesis placement effect in the active platform comprises:

[0035] Determining a second target normal vector, which has a same direction as an X-axis direction of a tibial prosthesis coordinate system;

[0036] Based on the second target normal vector, establishing a plurality of second point normal planes, and determining a plurality of tibial grid points that are simultaneously located above the plurality of second point normal planes;

[0037] The multiple tibial grid points located above the target tibial prosthesis section are projected onto the tibial section to simulate the effect of placing the target tibial prosthesis in the movable platform.

[0038] A second aspect of this application provides a unicompartmental mobile platform surgical planning device, comprising:

[0039] A determination module is used to determine multiple prostheses to be planned, including femoral prostheses and tibial prostheses, wherein the femoral prostheses are all spherical prostheses;

[0040] A placement module is used to place the femoral prosthesis with the distal end of the femur in a pre-constructed three-dimensional femoral model as the center, and adjust the femoral prosthesis to the target position of the femur; wherein, at the target position of the femur, the distance from the center of the femoral prosthesis to the femoral junction is equal to the radius of the outer spherical surface of the femoral prosthesis;

[0041] The calculation module is used to calculate the femoral cross-section coverage of the femoral prosthesis at the target femoral position.

[0042] The selection module is used to determine a target femoral prosthesis from a plurality of femoral prostheses based on the femoral cross-section coverage, and to determine a target tibial prosthesis from a plurality of tibial prostheses;

[0043] The planning module is used for preoperative planning of unicompartmental dynamic platform knee replacement surgery based on the target tibial prosthesis and the target femoral prosthesis.

[0044] A third aspect of this application provides a computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the computer device performs the method as described in any of the first aspects above.

[0045] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a computer, implements the method described in any of the first aspects above.

[0046] A fifth aspect of this application provides a computer program product, including a computer program that, when the computer program is run, causes the method described in any of the first aspects above to be executed.

[0047] Compared with the prior art, the embodiments of this application have the following beneficial effects:

[0048] The embodiment of the present application can determine the appropriate target femoral prosthesis and target tibial prosthesis from a plurality of prostheses according to the cross-sectional coverage in the preoperative planning stage by evaluating the cross-sectional coverage of each prosthesis after implantation, for the unicompartmental knee arthroplasty of the mobile platform. Since the femoral prosthesis used in the unicompartmental knee arthroplasty of the mobile platform is a spherical prosthesis, the embodiment of the present application places the femoral prosthesis with the distal end point of the femur in the three-dimensional model as the center, and then moves the femoral prosthesis to the best target position through position adjustment. At the target position, the distance from the spherical center of the femoral prosthesis to the intersection point of the femur is equal to the outer spherical radius of the femoral prosthesis. In this way, the placement position of the spherical prosthesis can be determined according to the actual shape characteristics of the spherical prosthesis in the preoperative planning stage, to ensure the rationality and reliability of subsequent planning, and thus to ensure the safety of the unicompartmental surgery of the mobile platform. BRIEF DESCRIPTION OF DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0050] Figure 1 is a schematic diagram of a unicompartmental mobile platform surgery planning method provided by the embodiment of the present application;

[0051] Figure 2 is a schematic diagram of a femoral prosthesis provided by the embodiment of the present application;

[0052] Figure 3 is a schematic diagram of a tibial prosthesis provided by the embodiment of the present application;

[0053] Figure 4 is a schematic diagram of a femoral landmark point provided by the embodiment of the present application;

[0054] Figure 5 is a schematic diagram of a femoral placement position provided by the embodiment of the present application;

[0055] Figure 6 is a schematic diagram of a step of simulating the placement effect of the femoral prosthesis provided by the embodiment of the present application;

[0056] Figure 7 is a schematic diagram of a step of simulating the placement effect of the tibial prosthesis provided by the embodiment of the present application;

[0057] Figure 8 is a schematic diagram of a unicompartmental mobile platform surgery planning device provided by the embodiment of the present application;

[0058] Figure 9 is a schematic diagram of a computer device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0059] In the following description, for the purpose of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0060] The technical solutions of the present application are described below through specific embodiments.

[0061] Referring to Figure 1 , a schematic diagram of a single-cone active platform surgery planning method provided by an embodiment of the present application is shown, which can specifically include the following steps:

[0062] S101, determining a plurality of prostheses to be planned.

[0063] It should be noted that the present method can be applied to a computer device, i.e., the execution subject of the embodiments of the present application can be a computer device. Through executing each step of the planning method provided by the embodiments of the present application, the computer device can determine the most suitable prosthesis for intraoperative use based on the shape of the prosthesis and the actual situation of the knee joint part of the patient requiring surgery, etc., and use it for preoperative planning to obtain an accurate preoperative planning scheme. The above computer device can be any type of electronic device capable of preoperative planning, such as a computer-aided medical device or other desktop computers, notebook computers, etc. capable of carrying out the corresponding function implementation. The embodiments of the present application do not limit the type of computer device.

[0064] The surgical procedure to which the embodiments of the present application are applicable is single-cone active platform surgery, i.e., single-cone knee joint replacement surgery based on an active platform. As previously introduced, one of the differences between fixed platforms and active platforms in the field of single-cone knee joint replacement surgery is whether the tibial pad (spacer) can move on the tibial tray. In a fixed platform, the tibial pad is firmly locked on the tibial tray and cannot move; while in an active platform, the tibial pad can rotate and move on the surface of the tibial tray. The femoral prosthesis in the active platform is a spherical prosthesis, including an inner spherical surface and an outer spherical surface. When cutting the bone, a spherical surface is drilled out in the distal end direction of the femur using a tool, and then a plane is cut out on the posterior condyle of the femur using a machine.

[0065] As shown in Figure 2 and Figure 3 , they are respectively a schematic diagram of a femoral prosthesis and a tibial prosthesis provided by an embodiment of the present application. Among them, Figure 2The femoral prosthesis shown in the figure is a spherical prosthesis, which has a spherical outer shape, including an outer spherical surface 201 and an inner spherical surface 202. Figure 3 The tibial prosthesis shown in the figure includes a tibial tray 301 and a tibial pad 302, wherein the tibial pad 302 can rotate and move on the surface of the tibial tray 301.

[0066] Therefore, the plurality of prostheses to be planned includes a plurality of femoral prostheses and a plurality of tibial prostheses that can be used for unicompartmental mobile platform surgery. One of the purposes of the embodiments of the present application is to evaluate a plurality of femoral prostheses and a plurality of tibial prostheses through preoperative planning, and to determine the most suitable prosthesis for unicompartmental mobile platform surgery, i.e. the target femoral prosthesis and the target tibial prosthesis.

[0067] S102, placing the femoral prosthesis with the femoral distal point in the pre-constructed femoral three-dimensional model as the center, and adjusting the femoral prosthesis to the target position of the femur.

[0068] In the embodiments of the present application, the pre-constructed femoral three-dimensional model can be a femoral three-dimensional model of the knee joint surgery site of the patient. Before the operation, the knee joint of the patient can be scanned using an imaging device to obtain medical images of the surgery site, and then a three-dimensional reconstruction can be used to establish a knee joint three-dimensional model including a femoral three-dimensional model and a tibial three-dimensional model.

[0069] For the pre-constructed femoral three-dimensional model, corresponding landmark points, i.e. femoral landmark points, can be marked in the model, and a femoral coordinate system can be established based on the marked femoral landmark points.

[0070] As Figure 4 shown is a schematic diagram of a femoral landmark point provided by an embodiment of the present application. Referring to Figure 4 , the femoral landmark points include a femoral head center point 401, an external epicondyle point 402, an internal epicondyle point 403, a femoral distal lateral point 404, a femoral distal medial point 405, a femoral posterior condyle lateral point 406, a femoral posterior condyle medial point 407, and a femoral distal center point 408, etc.

[0071] The steps of establishing a femoral coordinate system based on the above femoral landmark points can include the following steps 1.1-1.4:

[0072] 1.1 Calculate the midpoint of the line connecting the internal epicondyle point and the external epicondyle point as , and set the femoral head center point as F, and obtain the Y-axis vector of the femoral coordinate system as ;

[0073] 1.2 Establish a point-plane formula plane with point and vector ;

[0074] 1.3 Set the femoral posterior condyle medial point in the plane the projection point of the lateral point of the posterior condyle of the femur on the plane is the projection point of the lateral point of the posterior condyle of the femur on the plane is It should be noted that if the surgical side is the right side, the direction of the X-axis vector is reversed.

[0075] 1.4 The vector is obtained by multiplying the vector by the vector , and the Z-axis vector of the femoral coordinate system is obtained.

[0076] After the construction of the femoral three-dimensional model and the femoral coordinate system is completed, the planned femoral prosthesis can be evaluated. First, the distal end point of the femur in the pre-constructed femoral three-dimensional model can be placed as the center of the femoral prosthesis. The distal end point of the femur can be the distal end of the surgical side of the femur. In the actual surgical process, the surgical side can be divided into the medial side or the lateral side, or it can also be divided into the left side or the right side. Therefore, the distal end point of the femur can be selected as the medial distal end point of the femur (femoral distal medial point) or the lateral distal end point of the femur (femoral distal lateral point) according to the actual situation.

[0077] Specifically, the origin of the femoral prosthesis can be determined first. The origin of the femoral prosthesis may be the distal end point of the surgical side of the femur. The computer device can establish a rotation matrix based on the distal end point of the surgical side of the femur and the femoral coordinate system, and place the femoral prosthesis according to the rotation matrix . The initial position of the femoral prosthesis in the femoral three-dimensional model can be represented by a pose matrix of the femoral prosthesis, which is:

[0078]

[0079] That is, the computer device can determine the origin of the femoral prosthesis in the pre-constructed femoral three-dimensional model, establish a rotation matrix with the X, Y and Z axes of the femoral coordinate system, and place the femoral prosthesis according to the pose matrix T F .

[0080] The above operation is only to place the femoral prosthesis at a certain position in the surgical site, which may not be the most appropriate position for placing the prosthesis. Therefore, it is necessary to adjust the femoral prosthesis to move it to the target position of the femur.

[0081] In the embodiments of the present application, at the target position of the femur, the distance from the spherical center of the femoral prosthesis to the intersection point of the femur is equal to the outer spherical radius of the femoral prosthesis.

[0082] In one possible implementation of this application embodiment, adjusting the femoral prosthesis to the target femoral position may include:

[0083] The femoral prosthesis is displaced along the normal vector direction of the distal spherical surface, and the first femoral intersection point where the normal vector of the distal spherical surface intersects the femur is determined in real time; the displacement of the femoral prosthesis is stopped when the distance from the center of the femoral prosthesis to the first femoral intersection point is equal to the radius of the outer spherical surface of the femoral prosthesis.

[0084] Then, the femoral prosthesis is displaced along the normal vector direction of the posterior condyle section, and the second femoral intersection point where the normal vector of the posterior condyle section intersects the femur is determined in real time; the displacement of the femoral prosthesis is stopped when the distance from the center of the femoral prosthesis to the second femoral intersection point is equal to the outer spherical radius of the femoral prosthesis.

[0085] In this embodiment, it is assumed that the normal vector of the distal femoral spherical surface of the femoral prosthesis outward is N. D The position of the femoral prosthesis origin t F That is, the center of the prosthetic sphere, along N D The direction can determine the intersection point (first femoral intersection point) of the distal spherical normal vector and the femur as t. D When displacing a femoral prosthesis, one can first measure the distance from the distal spherical surface of the prosthesis to the normal vector N. D The prosthesis is displaced in the direction of displacement, resulting in a prosthesis position t. F to intersection point t D The distance is equal to the radius of the outer spherical surface of the femoral prosthesis.

[0086] Then, the prosthesis is further displaced along the normal vector direction of the posterior condyle section, so that the distance from the prosthesis position to the femoral intersection point (second femoral intersection point) on the normal vector of the posterior condyle section is also equal to the outer spherical radius of the femoral prosthesis.

[0087] After completing the above two movements of the femoral prosthesis, the position after the movement can be considered as the target position of the femur.

[0088] like Figure 5 The diagram shown is a schematic representation of a femoral placement position according to an embodiment of this application. Figure 5 The femoral prosthesis 501 shown can be with Figure 2 The femoral prosthesis shown is the same as the one described above. After determining the specific placement location by following the steps described above, the femoral prosthesis 501 can be placed at that location. Figure 5 The diagram shown is a specific example of placing a femoral prosthesis 501 at the surgical site.

[0089] S103. Calculate the femoral cross-section coverage when the femoral prosthesis is at the target position on the femur.

[0090] In the embodiments of the present application, since the femoral prosthesis used in the mobile platform unicompartmental knee arthroplasty is a spherical prosthesis, the distal end of which is spherical. Therefore, when calculating the femoral section coverage, only the coverage between the posterior condyle section of the prosthesis and the posterior condyle section of the femur can be calculated. The femoral section coverage refers to the ratio between the corresponding sectional area of the posterior condyle section of the femoral prosthesis in the posterior condyle section of the femur and the total area of the posterior condyle section of the femur.

[0091] Specifically, the first area of the posterior condyle section of the femoral prosthesis relative to the posterior condyle section of the femur in the three-dimensional model of the femur can be determined, and the second area of the posterior condyle section of the femur can be determined. Then, the ratio of the first area to the second area is calculated to obtain the femoral section coverage.

[0092] For any femoral prosthesis to be planned, a femoral section coverage can be calculated in the above manner. By performing S104, the target femoral prosthesis can be determined from the plurality of femoral prostheses according to the femoral section coverage.

[0093] S104, determining the target femoral prosthesis from the plurality of femoral prostheses according to the femoral section coverage.

[0094] Specifically, for the plurality of femoral prostheses to be planned, the femoral section coverage corresponding to each femoral prosthesis can be compared. In one example, the femoral prosthesis corresponding to the maximum femoral section coverage can be selected as the target femoral prosthesis. In another example, a coverage threshold can be set, and any femoral prosthesis with a femoral section coverage greater than the coverage threshold can be selected as the target femoral prosthesis, which is not limited in the embodiments of the present application.

[0095] S105, determining the target tibial prosthesis from the plurality of tibial prostheses, and performing preoperative planning of the unicompartmental mobile platform knee arthroplasty based on the target tibial prosthesis and the target femoral prosthesis.

[0096] After the target femoral prosthesis is determined, the computer device can determine the target tibial prosthesis from the plurality of tibial prostheses in a similar manner, so as to perform preoperative planning of the unicompartmental mobile platform arthroplasty based on the target tibial prosthesis and the target femoral prosthesis, and obtain the corresponding planning scheme.

[0097] The specific process of determining the target tibial prosthesis from the plurality of tibial prostheses can be referred to the content in the Chinese patent application No. 202510679312.8, "Unicompartmental arthroplasty prosthesis planning method, device and computer device", which will not be repeated here.

[0098] In this embodiment, for unicompartmental knee replacement surgery on a mobile platform, the cross-sectional coverage of each prosthesis after implantation can be evaluated during the preoperative planning stage. Based on this cross-sectional coverage, suitable target femoral and tibial prostheses can be determined from multiple prostheses for preoperative planning. Since the femoral prosthesis used in unicompartmental knee replacement surgery on a mobile platform is a spherical prosthesis, this embodiment places the femoral prosthesis with the distal femoral end in the three-dimensional femoral model as the center, and then moves it to the optimal target position through position adjustment. At this target position, the distance from the center of the femoral prosthesis to the femoral junction is equal to the outer spherical radius of the femoral prosthesis. This allows the placement of the spherical prosthesis to be determined based on its actual shape characteristics during the preoperative planning stage, ensuring the rationality and reliability of subsequent planning, and thus ensuring the safety of unicompartmental surgery performed on the mobile platform.

[0099] In one possible implementation of this application, after preoperative planning based on the target tibial prosthesis and the target femoral prosthesis, the placement effect of the prosthesis in the active platform can be simulated, thereby making further adjustments to the preoperative planning based on the simulated prosthesis placement effect.

[0100] Specifically, the placement effect of the target femoral prosthesis and the target tibial prosthesis can be simulated on the moving platform. The simulation process for the target femoral prosthesis and the target tibial prosthesis is described below.

[0101] (1) Target femoral prosthesis

[0102] like Figure 6 The diagram shown is a step-by-step illustration of simulating the placement effect of a femoral prosthesis according to an embodiment of this application. The process of simulating the placement effect of the target femoral prosthesis may include the following steps S601-S604:

[0103] S601. Determine the first target normal vector, which is the cross product between the normal vector of the posterior condyle section of the target femoral prosthesis and the normal vector of the distal spherical surface.

[0104] In this embodiment, the first target normal vector is obtained by multiplying the normal vector of the posterior condyle section of the femoral prosthesis by the normal vector of the distal spherical surface of the femoral prosthesis. This first target normal vector can be represented as normal vector N. ML .

[0105] The above normal vector N ML It can be used in subsequent steps to establish a multi-point normal plane.

[0106] S602. Based on the first target normal vector and the outer and inner spherical radii of the target femoral prosthesis, establish multiple first-point normal planes respectively.

[0107] The target femoral prosthesis is a spherical prosthesis consisting of an outer spherical surface and an inner spherical surface. The radii of the outer spherical surface and the inner spherical surface are not equal, with the outer spherical surface having a larger radius than the inner spherical surface.

[0108] Based on normal vector N ML When establishing a point-normal plane with respect to the outer and inner spherical radii, one can first use the origin of the femoral prosthesis at the aforementioned normal vector N. ML By adding or subtracting the radius of the inner sphere in the direction, we obtain two points, which we will denote here as points A and B. and Then, respectively with and Establish point normal plane ,by and Establish point normal plane .

[0109] On the other hand, the normal vector N of the distal spherical surface of the femoral prosthesis can be taken as the origin of the femoral prosthesis. D Subtracting the radius of the outer sphere from the direction yields point t. UP and with that point t UP and normal vector N D Establish point-normal plane PL UP .

[0110] The above point-normal plane , and PL UP They can be collectively referred to as the first point normal plane.

[0111] S603. Determine multiple femoral grid points that are simultaneously located above multiple first point French planes.

[0112] In this step, the femoral grid points can be filtered to determine those that simultaneously lie in the aforementioned point-normal plane. , and PL UP The above femoral mesh points are used for subsequent calculations.

[0113] S604. Project the multiple femoral grid points onto the corresponding spheres or sections to simulate the effect of placing the target femoral prosthesis in the active platform.

[0114] In this embodiment, an inner hemisphere can be established with the center of the target femoral prosthesis as the center, and the direction of the inner hemisphere can be the same as the direction of the distal end of the femoral prosthesis. Then, multiple femoral grid points located above the distal spherical surface of the target femoral prosthesis are determined, and these distal femoral points are projected onto the inner hemisphere.

[0115] Similarly, multiple femoral grid points located above the posterior condyle section of the target femoral prosthesis can be projected onto the posterior condyle section of the femur.

[0116] On the other hand, a cylindrical surface can also be established based on the inner spherical radius of the target femoral prosthesis, and the axis of this cylindrical surface can be point t. F and point t UP The lines are then connected. Then, multiple femoral mesh points located above the cylindrical surface are projected onto the cylindrical surface. This simulates the effect of placing the target femoral prosthesis in a moving platform.

[0117] (2) Target tibial prosthesis

[0118] like Figure 7 The diagram shown is a step-by-step illustration of simulating the placement effect of a tibial prosthesis according to an embodiment of this application. The process of simulating the placement effect of the target tibial prosthesis may include the following steps S701-S703:

[0119] S701. Determine the second target normal vector, the direction of which is the same as the X-axis direction of the tibial prosthesis coordinate system.

[0120] In this embodiment, the X-axis direction of the tibial prosthesis coordinate system can be used as the second target normal vector based on the tibial prosthesis pose, serving as the basis for subsequent operations. This second target normal vector can be represented as N. X .

[0121] S702. Based on the second target normal vector, establish multiple second point normal planes and determine multiple tibial grid points that are simultaneously located above the multiple second point normal planes.

[0122] Then, using the origin of the tibial prosthesis, at N... X Add or subtract a certain value L in the direction ML This yields two points. The above L... ML The specific value can be determined according to actual needs. For example, L ML The value can be half the length of the tibial prosthesis in the left-right direction, but this embodiment of the application does not limit this. These two points can be represented as points. and points Then, a point-normal plane can be established based on these two points.

[0123] Specifically, they can be represented by points. and -N X ,point and N X Establish two point-normal planes. These two point-normal planes can be collectively referred to as the second point-normal plane.

[0124] Based on this, tibial grid points that are simultaneously located above the two second-point French planes mentioned above can be selected.

[0125] S703, project the plurality of tibial grid points located above the target tibial prosthesis section to the tibial section to simulate the effect of placing the target tibial prosthesis in the active platform.

[0126] For the screened tibial grid points, they can be projected to the tibial section to simulate the effect after placing the tibial prosthesis.

[0127] For the simulated effects of placing the femoral prosthesis and the tibial prosthesis, the preoperative planning operator such as a doctor can further confirm whether the planning scheme is reasonable, so as to facilitate the correction and improvement of the preoperative planning.

[0128] The embodiment of the present application can make targeted preoperative planning for the unicompartmental knee arthroplasty of the active platform. Moreover, after determining the femoral prosthesis and the tibial prosthesis to be used, the embodiment of the present application can also simulate the placing effect of the femoral prosthesis and the tibial prosthesis in the active platform, so as to facilitate the doctor to further evaluate the rationality of the preoperative planning, and help to correct and improve the preoperative planning. In addition, by directly simulating the placing effect, it can also help the doctor to show the patient the operation situation, and facilitate the patient himself and the guardian to understand the postoperative recovery status.

[0129] It should be noted that the size of the serial number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0130] Referring to Figure 8 , a schematic diagram of a unicompartmental active platform surgery planning device provided by an embodiment of the present application is shown, which can specifically include a determination module 801, a placing module 802, a calculation module 803, a selection module 804 and a planning module 805, wherein:

[0131] The determination module 801 is configured to determine a plurality of prostheses to be planned, wherein the prostheses include a femoral prosthesis and a tibial prosthesis, and the femoral prosthesis is a spherical prosthesis;

[0132] The placing module 802 is configured to place the femoral prosthesis with the distal end point of the femur in the pre-constructed three-dimensional model as the center, and adjust the femoral prosthesis to a target femur position; wherein at the target femur position, the distance from the spherical center of the femoral prosthesis to the intersection point of the femur is equal to the outer spherical radius of the femoral prosthesis;

[0133] The calculation module 803 is configured to calculate the femoral section coverage rate of the femoral prosthesis at the target femur position;

[0134] The selection module 804 is configured to determine a target femoral prosthesis from a plurality of femoral prostheses according to the femoral section coverage rate, and determine a target tibial prosthesis from a plurality of tibial prostheses.

[0135] The planning module 805 is configured to perform preoperative planning for the unicompartmental knee arthroplasty of the target tibial prosthesis and the target femoral prosthesis.

[0136] In a possible implementation of the embodiments of the present application, the placing module 802 can be specifically configured to:

[0137] displace the femoral prosthesis along the normal vector direction of the distal spherical surface of the femoral prosthesis, and determine a first femoral intersection point where the normal vector of the distal spherical surface intersects with the femur in real time;

[0138] stop displacing the femoral prosthesis when the distance from the spherical center of the femoral prosthesis to the first femoral intersection point is equal to the outer spherical surface radius of the femoral prosthesis.

[0139] In another possible implementation of the embodiments of the present application, the placing module 802 can be further configured to:

[0140] displace the femoral prosthesis along the normal vector direction of the posterior condyle section of the femoral prosthesis, and determine a second femoral intersection point where the normal vector of the posterior condyle section intersects with the femur in real time;

[0141] stop displacing the femoral prosthesis when the distance from the spherical center of the femoral prosthesis to the second femoral intersection point is equal to the outer spherical surface radius of the femoral prosthesis.

[0142] In the embodiments of the present application, the calculating module 803 can be specifically configured to:

[0143] determine a first area of the prosthesis posterior condyle section of the femoral prosthesis relative to the posterior condyle section of the femur in the three-dimensional model of the femur, and determine a second area of the posterior condyle section of the femur;

[0144] calculate the ratio of the first area to the second area to obtain the femoral section coverage rate;

[0145] Correspondingly, the selecting module 804 can be specifically configured to:

[0146] determine the femoral prosthesis with the largest femoral section coverage rate from the plurality of femoral prostheses to be planned as the target femoral prosthesis.

[0147] In the embodiments of the present application, the device can further include:

[0148] The simulation module is configured to simulate the prosthesis placement effect in the mobile platform for the target femoral prosthesis and the target tibial prosthesis, respectively.

[0149] The adjusting module is configured to adjust the preoperative planning based on the simulated prosthesis placement effect.

[0150] In a possible implementation of the embodiment of the application, the simulation module can be specifically used for:

[0151] determining a first target normal vector, the first target normal vector being a cross product between a normal vector of a posterior condyle section of the target femoral prosthesis and a normal vector of a distal spherical surface;

[0152] establishing a plurality of first point normal planes based on the first target normal vector and an outer spherical surface radius and an inner spherical surface radius of the target femoral prosthesis, respectively;

[0153] determining a plurality of femoral grid points simultaneously located above the plurality of first point normal planes;

[0154] projecting the plurality of femoral grid points to corresponding spherical surfaces or sections, respectively, to simulate an effect of placing the target femoral prosthesis in the active platform.

[0155] In the embodiment of the application, the simulation module can also be used for:

[0156] establishing an inner hemispherical surface with the spherical center of the target femoral prosthesis as the center, and projecting a plurality of femoral grid points located above a distal spherical surface of the target femoral prosthesis to the inner hemispherical surface;

[0157] projecting a plurality of femoral grid points located above a posterior condyle section of the target femoral prosthesis to a femoral posterior condyle section;

[0158] establishing a cylindrical surface based on an inner spherical surface radius of the target femoral prosthesis, and projecting a plurality of femoral grid points located above the cylindrical surface to the cylindrical surface to simulate an effect of placing the target femoral prosthesis in the active platform.

[0159] In another possible implementation of the embodiment of the application, the simulation module can be specifically used for:

[0160] determining a second target normal vector, the direction of the second target normal vector being the same as the direction of an X-axis of a tibial prosthesis coordinate system;

[0161] establishing a plurality of second point normal planes based on the second target normal vector, and determining a plurality of tibial grid points simultaneously located above the plurality of second point normal planes;

[0162] projecting a plurality of the tibial grid points located above a section of the target tibial prosthesis to a tibial section to simulate an effect of placing the target tibial prosthesis in the active platform.

[0163] The single-condyle active platform surgery planning device provided in the embodiment of the application can be applied to implement each step in each method embodiment described above.

[0164] As the apparatus embodiments are basically similar to the method embodiments, they are described in a relatively simple manner. For relevant details, please refer to the description in the method embodiment section.

[0165] Reference Figure 9 The diagram illustrates a computer device provided in an embodiment of this application. Figure 9 As shown, the computer device 900 in this embodiment includes: a processor 910, a memory 920, and a computer program 921 stored in the memory 920 and executable on the processor 910. When the processor 910 executes the computer program 921, it implements the steps in the various embodiments of the unicompartmental mobile platform surgical planning method described above, for example... Figure 1 The steps S101 to S105 are shown. Alternatively, when the processor 910 executes the computer program 921, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 8 The functions of modules 801 to 805 are shown.

[0166] For example, the computer program 921 can be divided into one or more modules / units, which are stored in the memory 920 and executed by the processor 910 to complete this application. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which can be used to describe the execution process of the computer program 921 in the computer device 900. For example, the computer program 921 can be divided into a determining module, a placing module, a calculating module, a selecting module, and a planning module, with the specific functions of each module as follows:

[0167] A determination module is used to determine multiple prostheses to be planned, including femoral prostheses and tibial prostheses, wherein the femoral prostheses are all spherical prostheses;

[0168] A placement module is used to place the femoral prosthesis with the distal end of the femur in a pre-constructed three-dimensional femoral model as the center, and adjust the femoral prosthesis to the target position of the femur; wherein, at the target position of the femur, the distance from the center of the femoral prosthesis to the femoral junction is equal to the radius of the outer spherical surface of the femoral prosthesis;

[0169] The calculation module is used to calculate the femoral cross-section coverage of the femoral prosthesis at the target femoral position.

[0170] The selection module is used to determine a target femoral prosthesis from a plurality of femoral prostheses based on the femoral cross-section coverage, and to determine a target tibial prosthesis from a plurality of tibial prostheses;

[0171] a planning module configured to perform preoperative planning for a unicondylar mobile bearing knee arthroplasty procedure of the target tibial prosthesis and the target femoral prosthesis.

[0172] The computer device 900 can be a device capable of implementing relevant steps or corresponding functions in the foregoing various method embodiments. The computer device 900 can be a desktop computer, a cloud server, or the like. The computer device 900 can include, but is not limited to, a processor 910 and a memory 920. Those skilled in the art can understand that the computer device 900 can include more or fewer components, or combine certain components, or include different components, for example, the computer device 900 can also include an input / output device, a network access device, a bus, and the like. Figure 9 The computer device 900 is only an example and does not constitute a limitation on the computer device 900, and can include more or fewer components than the illustration, or combine certain components, or different components, for example, the computer device 900 can also include an input / output device, a network access device, a bus, and the like.

[0173] The processor 910 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic components, discrete hardware components, and the like. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0174] The memory 920 can be an internal storage unit of the computer device 900, such as a hard disk or a memory of the computer device 900. The memory 920 can also be an external storage device of the computer device 900, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, and the like. Further, the memory 920 can include both the internal storage unit and the external storage device of the computer device 900. The memory 920 is used to store the computer program 921 and other programs and data required by the computer device 900. The memory 920 can also be used to temporarily store data that has been output or will be output.

[0175] The embodiment of the present application further discloses a computer device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, and the computer program is executed by the processor to implement the method in the foregoing various embodiments.

[0176] The embodiment of the present application further discloses a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is executed by a computer to implement the method in the foregoing various embodiments.

[0177] The embodiment of the present application further discloses a computer program product, comprising a computer program, and the computer program is executed on a computer to enable the computer to execute the method in the foregoing various embodiments.

[0178] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them. Although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalent ones, and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A surgical planning method for a unicompartmental mobile platform, characterized in that, include: Multiple prostheses to be planned are identified, including femoral prostheses and tibial prostheses, wherein the femoral prostheses are all spherical prostheses; The femoral prosthesis is placed with the distal end of the femur in the pre-constructed three-dimensional femoral model as the center, and the femoral prosthesis is adjusted to the target position of the femur; wherein, at the target position of the femur, the distance from the center of the femoral prosthesis to the femoral junction is equal to the radius of the outer spherical surface of the femoral prosthesis; Calculate the femoral section coverage of the femoral prosthesis at the target position of the femur. The femoral section coverage refers to the ratio between the cross-sectional area of ​​the posterior condyle section of the femoral prosthesis in the posterior condyle section and the total area of ​​the posterior condyle section of the femur. The target femoral prosthesis is determined from among the plurality of femoral prostheses based on the femoral cross-section coverage. The target tibial prosthesis is identified from a plurality of said tibial prostheses, and preoperative planning for unicompartmental dynamic platform knee replacement surgery is performed based on said target tibial prosthesis and said target femoral prosthesis; For the target femoral prosthesis and the target tibial prosthesis respectively, the placement effect of the prosthesis is simulated in the active platform, and the preoperative plan is adjusted based on the simulated placement effect; The step of simulating the placement effect of the prosthesis in the activity platform includes: determining a first target normal vector, which is the cross product of the normal vector of the posterior condyle section of the target femoral prosthesis and the normal vector of the distal sphere; establishing multiple first-point normal planes based on the first target normal vector and the outer and inner sphere radii of the target femoral prosthesis; determining multiple femoral grid points simultaneously located above the multiple first-point normal planes; and projecting the multiple femoral grid points onto the corresponding spheres or sections to simulate the effect of placing the target femoral prosthesis in the activity platform.

2. The method according to claim 1, characterized in that, The adjustment of the femoral prosthesis to the target position on the femur includes: The femoral prosthesis is displaced along the normal vector direction of the distal spherical surface of the femoral prosthesis, and the first femoral intersection point where the normal vector of the distal spherical surface intersects the femur is determined in real time. The displacement of the femoral prosthesis stops when the distance from the center of the femoral prosthesis to the first femoral junction is equal to the outer spherical radius of the femoral prosthesis.

3. The method according to claim 2, characterized in that, The adjustment of the femoral prosthesis to the target position on the femur also includes: The femoral prosthesis is displaced along the normal vector direction of the posterior condyle section of the femoral prosthesis, and the second femoral intersection point where the normal vector of the posterior condyle section intersects the femur is determined in real time. The displacement of the femoral prosthesis stops when the distance from the center of the femoral prosthesis to the intersection point of the second femur is equal to the radius of the outer spherical surface of the femoral prosthesis.

4. The method according to claim 1, characterized in that, The calculation of the femoral cross-sectional coverage of the femoral prosthesis at the target femoral position includes: Determine a first area of ​​the portion of the posterior condyle section of the femoral prosthesis that is opposite to the posterior condyle section of the femoral prosthesis in the three-dimensional model of the femur; and determine a second area of ​​the posterior condyle section of the femur. The ratio of the first area to the second area is calculated to obtain the femoral section coverage rate; Accordingly, determining the target femoral prosthesis from among the plurality of femoral prostheses based on the femoral cross-section coverage includes: The femoral prosthesis with the largest femoral cross-section coverage is selected from the multiple femoral prostheses to be planned as the target femoral prosthesis.

5. The method according to claim 1, characterized in that, Projecting multiple femoral mesh points onto corresponding spheres or sections, including: An inner hemisphere is established with the center of the target femoral prosthesis as the center, and multiple femoral grid points located above the distal sphere of the target femoral prosthesis are projected onto the inner hemisphere. Project multiple femoral grid points located above the posterior condyle section of the target femoral prosthesis onto the posterior condyle section of the femur; A cylindrical surface is established based on the inner spherical radius of the target femoral prosthesis, and multiple femoral grid points located above the cylindrical surface are projected onto the cylindrical surface to simulate the effect of placing the target femoral prosthesis in the movable platform.

6. The method according to any one of claims 1 to 5, characterized in that, The simulation of prosthesis placement on the activity platform also includes: Determine the second target normal vector, the direction of which is the same as the X-axis direction of the tibial prosthesis coordinate system; Based on the second target normal vector, multiple second point normal planes are established, and multiple tibial grid points that are simultaneously located above multiple second point normal planes are determined. The multiple tibial grid points located above the target tibial prosthesis section are projected onto the tibial section to simulate the effect of placing the target tibial prosthesis in the movable platform.

7. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it causes the computer device to implement the method as described in any one of claims 1 to 6.

8. A computer program product, comprising a computer program, characterized in that, When the computer program is run, the method as described in any one of claims 1 to 6 is performed.

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